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2. CC-Link IE FIELD NETWORK BASIC PROTOCOL
Table 2.2 RWwn/RWrn mapping (supporting the position/speed/torque control mode, profile mode, and
Master station → Servo amplifier (RWwn)
(Note)
Index
Device No.
RWwn00
6060
Control mode
RWwn01
6040
Control command
RWwn02
2D01
Control input 1
RWwn03
2D02
Control input 2
RWwn04
2D03
Control input 3
RWwn05
Position command
607A
(pp)
RWwn06
RWwn07
Speed command
60FF
(pv)
RWwn08
RWwn09
2D20
Speed limit value (tq) Velocity limit value
RWwn0A
Torque command
RWwn0B
6071
(tq)
RWwn0C
Command speed
6081
(pp)
RWwn0D
RWwn0E
Acceleration time
6083
constant (pp, pv)
RWwn0F
RWwn10
Deceleration time
6084
constant (pp, pv)
RWwn11
Amount of torque
RWwn12
6087
command change
RWwn13
(per second) (tq)
Torque limit value
RWwn14
60E0
(forward)
Torque limit value
RWwn15
60E1
(reverse)
RWwn16
Touch probe
RWwn17
60B8
function setting
Positioning
RWwn18
60F2
operation setting
RWwn19
2D05
Control input 5
RWwn1A
RWwn1B
RWwn1C
RWwn1D
RWwn1E
RWwn1F
Note. "n" depends on the station No. setting.
2.4 Mapping data details of link device
Refer to chapter 7.
home position return mode)
Device
Device No.
Modes of
RWrn00
operation
Controlword
RWrn01
Control DI 1
RWrn02
Control DI 2
RWrn03
Control DI 3
RWrn04
RWrn05
Target position
RWrn06
RWrn07
Target velocity
RWrn08
RWrn09
RWrn0A
Target torque
RWrn0B
RWrn0C
Profile velocity
RWrn0D
Profile acceleration
RWrn0E
RWrn0F
Profile deceleration
RWrn10
RWrn11
Torque slope
RWrn12
RWrn13
Positive torque
limit value
RWrn14
RWrn15
Negative torque
limit value
RWrn16
RWrn17
RWrn18
Touch probe
function
RWrn19
RWrn1A
Positioning option
code
RWrn1B
Control DI 5
RWrn1C
RWrn1D
RWrn1E
RWrn1F
2 - 3
Servo amplifier → Master station (RWrn)
(Note)
Index
Control mode
6061
display
6041
Control status
Current position
6064
(command unit)
606C
Current speed
60F4
Droop pulses
6077
Current torque
2D11
Control output 1
2D12
Control output 2
2D13
Control output 3
2A42
Alarm No.
Touch probe
60B9
function status
Touch probe 1
60BA
Position latched at
the rising edge
Touch probe 1
60BB
Position latched at
the falling edge
2C12
Input device status 1
Device
Modes of
operation display
Statusword
Position actual
value
Velocity actual
value
Following error
actual value
Torque actual
value
Status DO 1
Status DO 2
Status DO 3
Current alarm 2
Touch probe status
Touch probe pos1
pos value
Touch probe pos1
neg value
External Input
signal display1
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